Figure 3
From: Controlling patient participation during robot-assisted gait training
Control scheme for control of activity via a visual stimulus. Active participation is measured by HR or weighted interaction torques (WIT). The control loop is closed by the visual feedback to the patient. Tint are the interaction torques between Lokomat and human. If HR control is chosen, mean HR is extracted in real time from the ECG and compared to a desired HR value. If WIT is controlled to a desired value, the current WIT values are computed from the interaction torques as detailed in the section 'Quantifying patient participation' and in Banz et al. [20]. The position of the visual stimulus is computed with a P gain.